Arduino Development Board

The Arduino board

• The Arduino family consists of popular, low-cost
development boards based on various Atmel AVR
microcontrollers
• The particular model used in this class is the Duemilanove,
which uses an ATmega328P microcontroller with a
simplified USB interface provided by an FT232 bridge

• The board incorporates 5v and 3.3v LDO regulators to provide regulated voltage
sources using either USB bus power or an external power supply of 7-12 volts
• There are also indicator LED’s for power and serial activity, as well as a single user
LED on pin 13
• The microcontroller pin-nodes are made accessible by 0.10” female headers on the
sides of the board
• Pins are grouped according to function and are labeled at the foot of the pins
 Arduino Duemilanove
ATMega328p 8-Bit Microcontroller
Clock speed: 16 MHz

Memory
32 KB flash memory (including 2 KB for bootloader)
2 KB SRAM for holding variables
1 KB EEPROM for saving data

Operating Voltage: 5 V

Power Supply
5V regulated supply via USB, host PC
( Range: 7-12 V, Limits: 6-20 V )
Vin: regulated external power, or Battery (9V)

Power Output Pins:

5V: regulated 5V at 40 mA max
3V3: regulated 3.3 V, 50 mA max via on board FTDI
GND: ground
 Arduino Pin-outs
I/O Pins
20 I/O pins (each as input or output)
• 14 Digital, 6 Analog
• Operate at 5V, 40mA max, with pull-up resistor
of 20-50 K (disconnected by default)
Digital I/O: 14 pins (6 PWM outputs)
Analog I/O: 6 pins (PWM),
• 10-bit resolution as inputs (0-5V)
Specialized Pins:
Serial I/O: 0 (RX), 1 (TX), connected via FTDI
External Interrupts: pins 2 and 3 (configurable)
PWM: on pin 3, 5, 6, 9, 10, 11 (8-bit output)
SPI (serial peripheral interface):
• Pins: 10 (ss), 11 (MOSI), 12 (MISO), 13 (SCK)
LED: built-in LED on pin 13
I2C (TWI) Comm: 4 (SDA) and 5 (SCL)
AREF: reference voltage for analog inputs
Reset: resets the microcontroller when pulled low
 Arduino Family of Products
The ATMEGA328P datasheet along with other app notes can be found at:
• http://www.atmel.com/dyn/products/product_card.asp?part_id=4198&ca
tegory_id=163&family_id=607&subfamily_id=760

Other sources of information are available from the AVR development

community:
• http://www.avrfreaks.net/
• http://forums.adafruit.com/viewforum.php?f=37&sid=a1565239d19ca211
75c6a411f47b0cc1
• http://www.freeduino.org/
• http://forum.sparkfun.com/viewforum.php?f=32

Note:
• Aside from the supporting circuitry and an installed bootloader, the
Arduino board is just an ATMEGA328 processor
• Most codes written for any ATMEGAxx8x microcontroller is likely to work
for Arduino with little modification
 Arduino Information
Arduino - HomePage:
• http://arduino.cc/

It provides links to:

• Buy
• Download
• Getting Started
• Learning
• Reference
• Hardware
• FAQ
 Programming the Arduino
Arduino can be programmed in several ways:
• The Arduino IDE uses a subset of C/C++, which runs on Windows, Mac, or Linux.
http://arduino.cc/en/Main/Software
• AVR Studio is provided by Atmel and runs in Windows or a simulated Windows
environment
http://www.atmel.com/dyn/products/tools_card.asp?tool_id=2725
• On Linux, libavr-gcc and avrdude can be used for programming outside a GUI
IDE Refer to the appropriate package management system to acquire these
• With the Matlab support package installed, MATLAB can be used for direct or
scripted control of Arduino via a maintained USB connection and a server
binary on the microcontroller
http://www.mathworks.com/academia/arduino-software/arduino-matlab.html
• Arduino programs can also be easily developed as Simulink models, which can
be automatically converted to C/C++, compiled, and downloaded into Arduino
via Arduino Target toolbox, Real-Time Workshop, and RTW Embedded Coder
http://www.mathworks.com/academia/arduino-software/arduino-simulink.html
 Arduino Programming
Programs are called sketches
Written in a C language subset

Every sketch requires 2 structural commands

void setup() {
}
// command runs once at the beginning of operation

void loop() {
}
// command runs a repeating loop after setup

// One-line comment
/* Multi-line comment */

For a language reference and a list of libraries, check:

http://arduino.cc/en/Reference/HomePagePrograms
 Arduino Code Library
Useful functions Examples:
pinMode() -set pin as INPUT/OUTPUT pinMode(2, INPUT);
digitalWrite() -set a digital pin (HIGH/LOW) digitalWrite(2, LOW);
digitalRead() -read a digital pins state (HIGH/LOW) val=digitalRead(2);
analogRead() -read analog pin val=analogRead(2);
analogWrite() -write an analog value analogWrite(2,val); //val=0-255
delay() -wait specific amount of time (ms) delay(value); //e.g., 1000 samples
millis() -get current counter time

Serial Commands
serial.begin(baud rate) -start serial communication with PC
serial.println(value) -print value to PC
serial.print(“…”, value) -print value without line
serial.read(“…”, value) -read value from PC with concatenation
 Example Arduino Sketch
/* Blink
Turns on an LED for one second, then off for one second, repeatedly.
This example code is in the public domain.
*/
void setup() {
// initialize the digital pin as an output
// Pin 13 has an LED connected on most Arduino boards:
pinMode(13, OUTPUT);
}
void loop() {
digitalWrite(13, HIGH); // set the LED on
delay(1000); // wait for a second (1000 ms)
digitalWrite(13, LOW); // set the LED off
delay(1000); // wait for a second
} More tutorials found at
http://arduino.cc/en/Tutorial/HomePage
 Programming Arduino with Matlab
Arduino can be interactively programmed in Matlab

• Arduino support from Matlab:

• http://www.mathworks.com/academia/arduino-software/arduino-matlab.html
• http://www.mathworks.com/matlabcentral/fileexchange/32374-matlab-support-
package-for-arduino-aka-arduinoio-package/all_files
• http://www.mathworks.com/matlabcentral/fileexchange/24638-arduino-meets-
matlab

For more information, see:

• MATLAB webinar and interactive tutorial:
• http://www.mathworks.com/matlabcentral/fileexchange/27843-arduino-io-
package-slides-and-examples
• http://www.mathworks.com/company/events/webinars/wbnr43537.html
Arduino Application in Servo Motor Control
 Programming Arduino in Simulink
Arduino programs can be easily developed as
Simulink models
• Using Arduino Target toolbox one needs to only set the
necessary parameters for the corresponding function blocks
• The Arduino Simulink program can be automatically
converted to the appropriate machine code and
downloaded into the Arduino board, via USB link, using
Arduino Target toolbox, Real-Time Workshop, and RTW
Embedded Coder
– http://www.mathworks.com/academia/arduino-software/arduino-
simulink.html

– Also see our “lab guide for Arduino”

 Arduino Target Tools Information
“Arduino Target” tools for Simulink:
• URL: http://www.mathworks.com/matlabcentral/fileexchange/24675-arduino-target
Two approaches to compile your
Simulink model to run on an Arduino:
1. With only Simulink (including the
student version) you can use the
Simulink Support Package for the
Uno/Mega described here:
http://www.mathworks.com/academia/
arduino-software/arduino-simulink.html
2. If you have Simulink Coder and
Embedded Coder you can use this target
which supports
Duemilanove/Uno/Mega, allows the
development of custom driver blocks,
supported processor-in-the-loop
execution, and provides access to the
generated C code:
http://www.mathworks.com/matlabcent
ral/fileexchange/30277
 Arduino Target Programming
Arduino Target blocks:
Arduino Analog Input
Arduino PWM
Arduino Digital Input
Arduino Digital Output
Arduino Serial Receive
Arduino Serial Transmit
Arduino Standard Servo Read
Arduino Continuous Servo Write
Arduino Standard Servo Write
Measure voltage of analog input pin
Generate PWM on analog output pin
Get logical value of digital input pin
Set logical value of digital output pin
Get one byte of data from serial port
Send buffered data to serial port
Get shaft position of servo motor
Set shaft speed of servo motor
Set shaft position of servo motor

Example:
A Simulink model that solves the Arduino Blink
Challenge. The controlled circuit switches
between four modes: all LEDs off, all LEDs on,
LEDs blinking simultaneously, and LEDs cycling
at a specified frequency. This model is included
with Arduino Blink Challenge Simulink Models.